TMC2209 Stallguard (#748)

* TMC2209 Stallguard

- Added StallGuard homing support to TMC2209 (UART)
- Killed off TMC2208 for now. Too many conflicts with TMC2209. Will return with Diamond motor class hierarchy
- Increase StallGuard setting range for TMC2209. Constrianed in each class to actual limits
- Added a machine def to test TMC2209

* Update build date

Grbl_Esp32/src/Grbl.h

@@ -23,7 +23,7 @@
 // Grbl versioning system
 
 const char* const GRBL_VERSION       = "1.3a";
-const char* const GRBL_VERSION_BUILD = "20210101";
+const char* const GRBL_VERSION_BUILD = "20210121";
 
 //#include <sdkconfig.h>
 #include <Arduino.h>

Grbl_Esp32/src/Machines/TMC2209_4x.h

@@ -0,0 +1,89 @@
+#pragma once
+// clang-format off
+
+/*
+    TMC2209_4x.h
+    https://github.com/FYSETC/FYSETC-E4
+
+    2020-12-29 B. Dring
+
+    This is a machine definition file to use the FYSTEC E4 3D Printer controller
+    This is a 4 motor controller. This is setup for XYZA, but XYYZ, could also be used.
+    There are 5 inputs
+    The controller has outputs for a Fan, Hotbed and Extruder. There are mapped to
+    spindle, mist and flood coolant to drive an external relay.
+
+    Grbl_ESP32 is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    Grbl is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with Grbl_ESP32.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#define MACHINE_NAME            "TMC2209 4x Controller"
+
+#define N_AXIS 4
+
+#define TRINAMIC_UART_RUN_MODE       TrinamicUartMode :: StealthChop
+#define TRINAMIC_UART_HOMING_MODE    TrinamicUartMode :: StallGuard
+
+#define TMC_UART                UART_NUM_1
+#define TMC_UART_RX             GPIO_NUM_21
+#define TMC_UART_TX             GPIO_NUM_22   
+
+#define X_TRINAMIC_DRIVER       2209
+#define X_STEP_PIN              GPIO_NUM_26
+#define X_DIRECTION_PIN         GPIO_NUM_27
+#define X_RSENSE                TMC2209_RSENSE_DEFAULT
+#define X_DRIVER_ADDRESS        0
+#define DEFAULT_X_MICROSTEPS    16
+
+#define Y_TRINAMIC_DRIVER       2209
+#define Y_STEP_PIN              GPIO_NUM_33
+#define Y_DIRECTION_PIN         GPIO_NUM_32
+#define Y_RSENSE                TMC2209_RSENSE_DEFAULT
+#define Y_DRIVER_ADDRESS        1
+#define DEFAULT_Y_MICROSTEPS    16
+
+#define Z_TRINAMIC_DRIVER       2209
+#define Z_STEP_PIN              GPIO_NUM_2
+#define Z_DIRECTION_PIN         GPIO_NUM_4
+#define Z_RSENSE                TMC2209_RSENSE_DEFAULT
+#define Z_DRIVER_ADDRESS        2
+#define DEFAULT_Z_MICROSTEPS    16
+
+#define A_TRINAMIC_DRIVER       2209
+#define A_STEP_PIN              GPIO_NUM_16
+#define A_DIRECTION_PIN         GPIO_NUM_17
+#define A_RSENSE                TMC2209_RSENSE_DEFAULT
+#define A_DRIVER_ADDRESS        3
+#define DEFAULT_A_MICROSTEPS    16
+
+#define X_LIMIT_PIN             GPIO_NUM_36
+#define Y_LIMIT_PIN             GPIO_NUM_39
+#define Z_LIMIT_PIN             GPIO_NUM_34
+#define PROBE_PIN               GPIO_NUM_35
+
+// OK to comment out to use pin for other features
+#define STEPPERS_DISABLE_PIN    GPIO_NUM_25
+
+
+// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-5V-Buffered-Output-Module
+// https://github.com/bdring/6-Pack_CNC_Controller/wiki/Quad-MOSFET-Module
+#define USER_DIGITAL_PIN_0      GPIO_NUM_14 //  M62 M63
+#define USER_DIGITAL_PIN_1      GPIO_NUM_13 //  M62 M63
+#define USER_DIGITAL_PIN_2      GPIO_NUM_15 //  M62 M63
+#define USER_DIGITAL_PIN_3      GPIO_NUM_12 //  M62 M63
+
+
+// ===================== defaults ======================
+// https://github.com/bdring/Grbl_Esp32/wiki/Setting-Defaults
+
+#define DEFAULT_INVERT_PROBE_PIN 1

Grbl_Esp32/src/Motors/TrinamicDriver.cpp

@@ -258,7 +258,7 @@ namespace Motors {
                 tmcstepper->THIGH(calc_tstep(homing_feed_rate->get(), 60.0));
                 tmcstepper->sfilt(1);
                 tmcstepper->diag1_stall(true);  // stallguard i/o is on diag1
-                tmcstepper->sgt(axis_settings[_axis_index]->stallguard->get());
+                tmcstepper->sgt(constrain(axis_settings[_axis_index]->stallguard->get(), -64, 63));
                 break;
             default:
                 grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "TRINAMIC_MODE_UNDEFINED");
@@ -286,7 +286,7 @@ namespace Motors {
                        tmcstepper->stallguard(),
                        tmcstepper->sg_result(),
                        feedrate,
-                       axis_settings[_axis_index]->stallguard->get());
+                       constrain(axis_settings[_axis_index]->stallguard->get(), -64, 63));
 
         TMC2130_n ::DRV_STATUS_t status { 0 };  // a useful struct to access the bits.
         status.sr = tmcstepper->DRV_STATUS();

Grbl_Esp32/src/Motors/TrinamicUartDriver.h

@@ -98,7 +98,7 @@ namespace Motors {
     private:
         uint32_t calc_tstep(float speed, float percent);  //TODO: see if this is useful/used.
 
-        TMC2208Stepper*  tmcstepper;  // all other driver types are subclasses of this one
+        TMC2209Stepper*  tmcstepper;  // all other driver types are subclasses of this one
         TrinamicUartMode _homing_mode;
         uint16_t         _driver_part_number;  // example: use 2209 for TMC2209
         float            _r_sense;

Grbl_Esp32/src/Motors/TrinamicUartDriverClass.cpp

@@ -7,6 +7,9 @@
     2020 -	The Ant Team
     2020 -	Bart Dring
 
+    TMC2209 Datasheet
+    https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2209_Datasheet_V103.pdf
+
     Grbl is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
@@ -27,6 +30,8 @@ HardwareSerial tmc_serial(TMC_UART);
 
 namespace Motors {
 
+    TrinamicUartDriver* TrinamicUartDriver::List = NULL;  // a static ist of all drivers for stallguard reporting
+
     /* HW Serial Constructor. */
     TrinamicUartDriver::TrinamicUartDriver(
         uint8_t axis_index, uint8_t step_pin, uint8_t dir_pin, uint8_t disable_pin, uint16_t driver_part_number, float r_sense, uint8_t addr) :
@@ -40,13 +45,13 @@ namespace Motors {
         tmc_serial.begin(115200, SERIAL_8N1, TMC_UART_RX, TMC_UART_TX);
         tmc_serial.setRxBufferSize(128);
         hw_serial_init();
+
+        link = List;
+        List = this;
     }
 
     void TrinamicUartDriver::hw_serial_init() {
-        if (_driver_part_number == 2208)
+        if (_driver_part_number == 2209)
-            // TMC 2208 does not use address, this field is 0
-            tmcstepper = new TMC2208Stepper(&tmc_serial, _r_sense);
-        else if (_driver_part_number == 2209)
             tmcstepper = new TMC2209Stepper(&tmc_serial, _r_sense, addr);
         else {
             grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Unsupported Trinamic motor p/n:%d", _driver_part_number);
@@ -73,6 +78,20 @@ namespace Motors {
             read_settings();
             set_mode(false);
         }
+
+        // After initializing all of the TMC drivers, create a task to
+        // display StallGuard data.  List == this for the final instance.
+        if (List == this) {
+            xTaskCreatePinnedToCore(readSgTask,    // task
+                                    "readSgTask",  // name for task
+                                    4096,          // size of task stack
+                                    NULL,          // parameters
+                                    1,             // priority
+                                    NULL,
+                                    SUPPORT_TASK_CORE  // must run the task on same core
+                                                       // core
+            );
+        }
     }
 
     /*
@@ -192,38 +211,27 @@ namespace Motors {
         if (newMode == _mode) {
             return;
         }
+
         _mode = newMode;
 
         switch (_mode) {
             case TrinamicUartMode ::StealthChop:
-                //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "StealthChop");
+                grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "StealthChop");
-                // tmcstepper->en_pwm_mode(true); //TODO: check if this is present in TMC2208/09
                 tmcstepper->en_spreadCycle(false);
                 tmcstepper->pwm_autoscale(true);
-                // if (_driver_part_number == 2209) {
-                // tmcstepper->diag1_stall(false); //TODO: check the equivalent in TMC2209
-                // }
                 break;
             case TrinamicUartMode ::CoolStep:
-                //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Coolstep");
+                grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Coolstep");
                 // tmcstepper->en_pwm_mode(false); //TODO: check if this is present in TMC2208/09
                 tmcstepper->en_spreadCycle(true);
                 tmcstepper->pwm_autoscale(false);
-                if (_driver_part_number == 2209) {
-                    // tmcstepper->TCOOLTHRS(NORMAL_TCOOLTHRS);  // when to turn on coolstep //TODO: add this solving compilation issue.
-                    // tmcstepper->THIGH(NORMAL_THIGH); //TODO: this does not exist in TMC2208/09. verify and eventually remove.
-                }
                 break;
             case TrinamicUartMode ::StallGuard:  //TODO: check all configurations for stallguard
-                //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard");
+                grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard");
-                // tmcstepper->en_pwm_mode(false); //TODO: check if this is present in TMC2208/09
                 tmcstepper->en_spreadCycle(false);
                 tmcstepper->pwm_autoscale(false);
-                // tmcstepper->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0));
+                tmcstepper->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0));
-                // tmcstepper->THIGH(calc_tstep(homing_feed_rate->get(), 60.0));
+                tmcstepper->SGTHRS(constrain(axis_settings[_axis_index]->stallguard->get(),0,255));
-                // tmcstepper->sfilt(1);
-                // tmcstepper->diag1_stall(true);  // stallguard i/o is on diag1
-                // tmcstepper->sgt(axis_settings[_axis_index]->stallguard->get());
                 break;
             default:
                 grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Unknown Trinamic mode:d", _mode);
@@ -246,10 +254,9 @@ namespace Motors {
 
         grbl_msg_sendf(CLIENT_SERIAL,
                        MsgLevel::Info,
-                       "%s Stallguard %d   SG_Val: %04d   Rate: %05.0f mm/min SG_Setting:%d",
+                       "%s SG_Val: %04d   Rate: %05.0f mm/min SG_Setting:%d",
                        reportAxisNameMsg(_axis_index, _dual_axis_index),
-                       0,  //    tmcstepper->stallguard(), // TODO: add this again solving the compilation issues
+                       tmcstepper->SG_RESULT(),  //    tmcstepper->sg_result(),
-                       0,  //    tmcstepper->sg_result(),
                        feedrate,
                        axis_settings[_axis_index]->stallguard->get());
 
@@ -261,13 +268,6 @@ namespace Motors {
         report_short_to_ground(status);
         report_over_temp(status);
         report_short_to_ps(status);
-
-        // grbl_msg_sendf(CLIENT_SERIAL,
-        //                MsgLevel::Info,
-        //                "%s Status Register %08x GSTAT %02x",
-        //                reportAxisNameMsg(_axis_index, _dual_axis_index),
-        //                status.sr,
-        //                tmcstepper->GSTAT());
     }
 
     // calculate a tstep from a rate
@@ -367,4 +367,31 @@ namespace Motors {
         return false;  // no error
     }
 
+    // Prints StallGuard data that is useful for tuning.
+    void TrinamicUartDriver::readSgTask(void* pvParameters) {
+        TickType_t       xLastWakeTime;
+        const TickType_t xreadSg = 200;  // in ticks (typically ms)
+        auto             n_axis  = number_axis->get();
+
+        xLastWakeTime = xTaskGetTickCount();  // Initialise the xLastWakeTime variable with the current time.
+        while (true) {                        // don't ever return from this or the task dies
+            if (stallguard_debug_mask->get() != 0) {
+                if (sys.state == State::Cycle || sys.state == State::Homing || sys.state == State::Jog) {
+                    for (TrinamicUartDriver* p = List; p; p = p->link) {
+                        if (bitnum_istrue(stallguard_debug_mask->get(), p->_axis_index)) {
+                            //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "SG:%d", stallguard_debug_mask->get());
+                            p->debug_message();
+                        }
+                    }
+                }  // sys.state
+            }      // if mask
+
+            vTaskDelayUntil(&xLastWakeTime, xreadSg);
+
+            static UBaseType_t uxHighWaterMark = 0;
+#ifdef DEBUG_TASK_STACK
+            reportTaskStackSize(uxHighWaterMark);
+#endif
+        }
+    }
 }

Grbl_Esp32/src/SettingsDefinitions.cpp

@@ -258,7 +258,7 @@ void make_settings() {
     for (axis = MAX_N_AXIS - 1; axis >= 0; axis--) {
         def = &axis_defaults[axis];
         auto setting =
-            new IntSetting(EXTENDED, WG, makeGrblName(axis, 170), makename(def->name, "StallGuard"), def->stallguard, -64, 63, postMotorSetting);
+            new IntSetting(EXTENDED, WG, makeGrblName(axis, 170), makename(def->name, "StallGuard"), def->stallguard, -64, 255, postMotorSetting);
         setting->setAxis(axis);
         axis_settings[axis]->stallguard = setting;
     }